The standard evaluation routine of the KITTI 2015 stereo benchmark [1]} states the accuracy as the amount of erroneous pixels (D1-all), averaged over all \(m\)  ground truth pixels in the evaluation set, for which the estimated disparity \(d\)  differs by 3 or more pixels with respect to the ground truth \(\hat{d}\) :
\( \text{D1-all} = \frac{1}{m} \sum _{i = 1}^m \left[|d-\hat{d}| \ge 3 \right], \) 
